{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Use Off-Policy VPG with Baseline to Play CartPole-v0\n",
    "\n",
    "PyTorch version"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib inline\n",
    "\n",
    "import sys\n",
    "import logging\n",
    "import imp\n",
    "import itertools\n",
    "\n",
    "import numpy as np\n",
    "np.random.seed(0)\n",
    "import pandas as pd\n",
    "import gym\n",
    "import matplotlib.pyplot as plt\n",
    "import torch\n",
    "import torch.nn as nn\n",
    "import torch.optim as optim\n",
    "import torch.distributions as distributions\n",
    "torch.manual_seed(0)\n",
    "\n",
    "imp.reload(logging)\n",
    "logging.basicConfig(level=logging.DEBUG,\n",
    "        format='%(asctime)s [%(levelname)s] %(message)s',\n",
    "        stream=sys.stdout, datefmt='%H:%M:%S')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:54:35 [INFO] env: <CartPoleEnv<CartPole-v0>>\n",
      "22:54:35 [INFO] action_space: Discrete(2)\n",
      "22:54:35 [INFO] observation_space: Box(-3.4028234663852886e+38, 3.4028234663852886e+38, (4,), float32)\n",
      "22:54:35 [INFO] reward_range: (-inf, inf)\n",
      "22:54:35 [INFO] metadata: {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50}\n",
      "22:54:35 [INFO] _max_episode_steps: 200\n",
      "22:54:35 [INFO] _elapsed_steps: None\n"
     ]
    }
   ],
   "source": [
    "env = gym.make('CartPole-v0')\n",
    "env.seed(0)\n",
    "for key in vars(env):\n",
    "    logging.info('%s: %s', key, vars(env)[key])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "class OffPolicyVPGwBaselineAgent:\n",
    "    def __init__(self, env,):\n",
    "        self.action_n = env.action_space.n\n",
    "        self.gamma = 0.99\n",
    "\n",
    "        self.policy_net = self.build_net(\n",
    "                input_size=env.observation_space.shape[0],\n",
    "                hidden_sizes=[],\n",
    "                output_size=self.action_n, output_activator=nn.Softmax(1))\n",
    "        self.policy_optimizer = optim.Adam(self.policy_net.parameters(), lr=0.06)\n",
    "        self.baseline_net = self.build_net(\n",
    "                input_size=env.observation_space.shape[0],\n",
    "                hidden_sizes=[])\n",
    "        self.baseline_optimizer = optim.Adam(self.policy_net.parameters(), lr=0.1)\n",
    "        self.baseline_loss = nn.MSELoss()\n",
    "\n",
    "    def build_net(self, input_size, hidden_sizes, output_size=1,\n",
    "            output_activator=None, use_bias=False):\n",
    "        layers = []\n",
    "        for input_size, output_size in zip(\n",
    "                [input_size,] + hidden_sizes, hidden_sizes + [output_size,]):\n",
    "            layers.append(nn.Linear(input_size, output_size, bias=use_bias))\n",
    "            layers.append(nn.ReLU())\n",
    "        layers = layers[:-1]\n",
    "        if output_activator:\n",
    "            layers.append(output_activator)\n",
    "        model = nn.Sequential(*layers)\n",
    "        return model\n",
    "\n",
    "    def reset(self, mode=None):\n",
    "        self.mode = mode\n",
    "        if self.mode == 'train':\n",
    "            self.trajectory = []\n",
    "\n",
    "    def step(self, observation, reward, done):\n",
    "        if self.mode == 'train':\n",
    "            action = np.random.choice(self.action_n) # use random policy\n",
    "            self.trajectory += [observation, reward, done, action]\n",
    "        else:\n",
    "            state_tensor = torch.as_tensor(observation, dtype=torch.float).unsqueeze(0)\n",
    "            prob_tensor = self.policy_net(state_tensor)\n",
    "            action_tensor = distributions.Categorical(prob_tensor).sample()\n",
    "            action = action_tensor.numpy()[0]\n",
    "        return action\n",
    "\n",
    "    def close(self):\n",
    "        if self.mode == 'train':\n",
    "            self.learn()\n",
    "\n",
    "    def learn(self):\n",
    "        state_tensor = torch.as_tensor(self.trajectory[0::4], dtype=torch.float)\n",
    "        reward_tensor = torch.as_tensor(self.trajectory[1::4], dtype=torch.float)\n",
    "        action_tensor = torch.as_tensor(self.trajectory[3::4], dtype=torch.long)\n",
    "        arange_tensor = torch.arange(state_tensor.shape[0], dtype=torch.float)\n",
    "        \n",
    "        # train baseline\n",
    "        discount_tensor = self.gamma ** arange_tensor\n",
    "        discounted_reward_tensor = discount_tensor * reward_tensor\n",
    "        discounted_return_tensor = discounted_reward_tensor.flip(0).cumsum(0).flip(0)\n",
    "        return_tensor = discounted_return_tensor / discount_tensor\n",
    "        pred_tensor = self.baseline_net(state_tensor)\n",
    "        baseline_loss_tensor = self.baseline_loss(pred_tensor, return_tensor.unsqueeze(1))\n",
    "        self.baseline_optimizer.zero_grad()\n",
    "        baseline_loss_tensor.backward()\n",
    "        self.baseline_optimizer.step()\n",
    "        \n",
    "        # train policy\n",
    "        all_pi_tensor = self.policy_net(state_tensor)\n",
    "        pi_tensor = torch.gather(all_pi_tensor, 1,\n",
    "                action_tensor.unsqueeze(1)).squeeze(1)\n",
    "        behavior_prob = 1. / self.action_n\n",
    "        policy_loss_tensor = -(discounted_return_tensor / behavior_prob * pi_tensor).mean()\n",
    "        self.policy_optimizer.zero_grad()\n",
    "        policy_loss_tensor.backward()\n",
    "        self.policy_optimizer.step()\n",
    "\n",
    "\n",
    "agent = OffPolicyVPGwBaselineAgent(env)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:54:35 [INFO] ==== train & verify ====\n",
      "22:54:35 [DEBUG] verify episode 0: reward = 39.00, steps = 39\n",
      "22:54:35 [DEBUG] verify episode 1: reward = 56.00, steps = 56\n",
      "22:54:35 [DEBUG] verify episode 2: reward = 61.00, steps = 61\n",
      "22:54:35 [DEBUG] verify episode 3: reward = 72.00, steps = 72\n",
      "22:54:35 [DEBUG] verify episode 4: reward = 45.00, steps = 45\n",
      "22:54:35 [DEBUG] verify episode 5: reward = 39.00, steps = 39\n",
      "22:54:35 [DEBUG] verify episode 6: reward = 28.00, steps = 28\n",
      "22:54:35 [DEBUG] verify episode 7: reward = 131.00, steps = 131\n",
      "22:54:35 [DEBUG] verify episode 8: reward = 15.00, steps = 15\n",
      "22:54:35 [DEBUG] verify episode 9: reward = 24.00, steps = 24\n",
      "22:54:35 [DEBUG] verify episode 10: reward = 51.00, steps = 51\n",
      "22:54:35 [DEBUG] verify episode 11: reward = 16.00, steps = 16\n",
      "22:54:35 [DEBUG] verify episode 12: reward = 15.00, steps = 15\n",
      "22:54:35 [DEBUG] verify episode 13: reward = 31.00, steps = 31\n",
      "22:54:35 [DEBUG] verify episode 14: reward = 66.00, steps = 66\n",
      "22:54:35 [DEBUG] verify episode 15: reward = 31.00, steps = 31\n",
      "22:54:35 [DEBUG] verify episode 16: reward = 19.00, steps = 19\n",
      "22:54:35 [DEBUG] verify episode 17: reward = 22.00, steps = 22\n",
      "22:54:35 [DEBUG] verify episode 18: reward = 20.00, steps = 20\n",
      "22:54:35 [DEBUG] verify episode 19: reward = 21.00, steps = 21\n",
      "22:54:35 [DEBUG] verify episode 20: reward = 20.00, steps = 20\n",
      "22:54:35 [DEBUG] verify episode 21: reward = 21.00, steps = 21\n",
      "22:54:36 [DEBUG] verify episode 22: reward = 21.00, steps = 21\n",
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      "22:54:36 [DEBUG] verify episode 25: reward = 101.00, steps = 101\n",
      "22:54:36 [DEBUG] verify episode 26: reward = 75.00, steps = 75\n",
      "22:54:36 [DEBUG] verify episode 27: reward = 44.00, steps = 44\n",
      "22:54:36 [DEBUG] verify episode 28: reward = 85.00, steps = 85\n",
      "22:54:36 [DEBUG] verify episode 29: reward = 46.00, steps = 46\n",
      "22:54:36 [DEBUG] verify episode 30: reward = 13.00, steps = 13\n",
      "22:54:36 [DEBUG] verify episode 31: reward = 43.00, steps = 43\n",
      "22:54:36 [DEBUG] verify episode 32: reward = 50.00, steps = 50\n",
      "22:54:36 [DEBUG] verify episode 33: reward = 19.00, steps = 19\n",
      "22:54:36 [DEBUG] verify episode 34: reward = 55.00, steps = 55\n",
      "22:54:36 [DEBUG] verify episode 35: reward = 62.00, steps = 62\n",
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      "22:54:36 [DEBUG] verify episode 42: reward = 44.00, steps = 44\n",
      "22:54:36 [DEBUG] verify episode 43: reward = 28.00, steps = 28\n",
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      "22:54:36 [DEBUG] verify episode 47: reward = 17.00, steps = 17\n",
      "22:54:36 [DEBUG] verify episode 48: reward = 26.00, steps = 26\n",
      "22:54:36 [DEBUG] verify episode 49: reward = 44.00, steps = 44\n",
      "22:54:36 [DEBUG] verify episode 50: reward = 50.00, steps = 50\n",
      "22:54:36 [DEBUG] verify episode 51: reward = 26.00, steps = 26\n",
      "22:54:36 [DEBUG] verify episode 52: reward = 12.00, steps = 12\n",
      "22:54:36 [DEBUG] verify episode 53: reward = 45.00, steps = 45\n",
      "22:54:36 [DEBUG] verify episode 54: reward = 43.00, steps = 43\n",
      "22:54:36 [DEBUG] verify episode 55: reward = 107.00, steps = 107\n",
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      "22:54:36 [DEBUG] verify episode 58: reward = 42.00, steps = 42\n",
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      "22:54:36 [DEBUG] verify episode 60: reward = 113.00, steps = 113\n",
      "22:54:36 [DEBUG] verify episode 61: reward = 30.00, steps = 30\n",
      "22:54:36 [DEBUG] verify episode 62: reward = 58.00, steps = 58\n",
      "22:54:36 [DEBUG] verify episode 63: reward = 162.00, steps = 162\n",
      "22:54:36 [DEBUG] verify episode 64: reward = 78.00, steps = 78\n",
      "22:54:36 [DEBUG] verify episode 65: reward = 51.00, steps = 51\n",
      "22:54:36 [DEBUG] verify episode 66: reward = 69.00, steps = 69\n",
      "22:54:37 [DEBUG] verify episode 67: reward = 47.00, steps = 47\n",
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      "22:54:38 [DEBUG] verify episode 128: reward = 54.00, steps = 54\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:54:38 [DEBUG] verify episode 129: reward = 68.00, steps = 68\n",
      "22:54:38 [DEBUG] verify episode 130: reward = 45.00, steps = 45\n",
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     ]
    },
    {
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     "output_type": "stream",
     "text": [
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     "text": [
      "22:54:46 [DEBUG] verify episode 385: reward = 72.00, steps = 72\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:54:50 [DEBUG] verify episode 513: reward = 87.00, steps = 87\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
      "22:54:55 [DEBUG] verify episode 641: reward = 63.00, steps = 63\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
      "22:55:00 [DEBUG] verify episode 769: reward = 109.00, steps = 109\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:55:06 [DEBUG] verify episode 896: reward = 200.00, steps = 200\n",
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     ]
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     "text": [
      "22:55:12 [DEBUG] verify episode 1023: reward = 97.00, steps = 97\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:55:18 [DEBUG] verify episode 1149: reward = 69.00, steps = 69\n",
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     ]
    },
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     "text": [
      "22:55:24 [DEBUG] verify episode 1274: reward = 77.00, steps = 77\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:55:32 [DEBUG] verify episode 1398: reward = 72.00, steps = 72\n",
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     ]
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     "text": [
      "22:55:41 [DEBUG] verify episode 1521: reward = 113.00, steps = 113\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:55:51 [DEBUG] verify episode 1644: reward = 160.00, steps = 160\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
      "22:56:00 [DEBUG] verify episode 1767: reward = 144.00, steps = 144\n",
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      "22:56:12 [DEBUG] verify episode 1889: reward = 131.00, steps = 131\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:56:12 [DEBUG] verify episode 1890: reward = 186.00, steps = 186\n",
      "22:56:12 [DEBUG] verify episode 1891: reward = 127.00, steps = 127\n",
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     ]
    },
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     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:56:25 [DEBUG] verify episode 2013: reward = 200.00, steps = 200\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
      "22:56:35 [DEBUG] verify episode 2136: reward = 178.00, steps = 178\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:56:46 [DEBUG] verify episode 2259: reward = 109.00, steps = 109\n",
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     ]
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     "text": [
      "22:56:56 [DEBUG] verify episode 2382: reward = 157.00, steps = 157\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:57:07 [DEBUG] verify episode 2505: reward = 189.00, steps = 189\n",
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     ]
    },
    {
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     "output_type": "stream",
     "text": [
      "22:57:18 [DEBUG] verify episode 2628: reward = 123.00, steps = 123\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:57:30 [DEBUG] verify episode 2751: reward = 200.00, steps = 200\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
      "22:57:43 [DEBUG] verify episode 2874: reward = 200.00, steps = 200\n",
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      "22:57:53 [DEBUG] verify episode 2996: reward = 133.00, steps = 133\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:57:53 [DEBUG] verify episode 2997: reward = 129.00, steps = 129\n",
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     ]
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      "22:58:05 [DEBUG] verify episode 3120: reward = 138.00, steps = 138\n",
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     ]
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      "22:58:15 [DEBUG] verify episode 3243: reward = 200.00, steps = 200\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:58:24 [DEBUG] verify episode 3366: reward = 178.00, steps = 178\n",
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     ]
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     "text": [
      "22:58:32 [DEBUG] verify episode 3489: reward = 194.00, steps = 194\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:58:41 [DEBUG] verify episode 3612: reward = 104.00, steps = 104\n",
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     ]
    },
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     "text": [
      "22:58:48 [DEBUG] verify episode 3735: reward = 125.00, steps = 125\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:58:55 [DEBUG] verify episode 3858: reward = 158.00, steps = 158\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
      "22:59:02 [DEBUG] verify episode 3981: reward = 148.00, steps = 148\n",
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      "22:59:09 [DEBUG] verify episode 4103: reward = 145.00, steps = 145\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:59:09 [DEBUG] verify episode 4104: reward = 169.00, steps = 169\n",
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     ]
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      "22:59:17 [DEBUG] verify episode 4227: reward = 200.00, steps = 200\n",
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     ]
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      "22:59:24 [DEBUG] verify episode 4350: reward = 135.00, steps = 135\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:59:31 [DEBUG] verify episode 4473: reward = 158.00, steps = 158\n",
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     ]
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     "text": [
      "22:59:37 [DEBUG] verify episode 4596: reward = 189.00, steps = 189\n",
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      "22:59:41 [DEBUG] verify episode 4655: reward = 149.00, steps = 149\n",
      "22:59:41 [DEBUG] verify episode 4656: reward = 200.00, steps = 200\n",
      "22:59:41 [DEBUG] verify episode 4657: reward = 130.00, steps = 130\n",
      "22:59:41 [DEBUG] verify episode 4658: reward = 166.00, steps = 166\n",
      "22:59:41 [DEBUG] verify episode 4659: reward = 200.00, steps = 200\n",
      "22:59:41 [DEBUG] verify episode 4660: reward = 153.00, steps = 153\n",
      "22:59:41 [DEBUG] verify episode 4661: reward = 200.00, steps = 200\n",
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      "22:59:41 [DEBUG] verify episode 4663: reward = 175.00, steps = 175\n",
      "22:59:41 [DEBUG] verify episode 4664: reward = 157.00, steps = 157\n",
      "22:59:41 [DEBUG] verify episode 4665: reward = 200.00, steps = 200\n",
      "22:59:41 [DEBUG] verify episode 4666: reward = 129.00, steps = 129\n",
      "22:59:41 [DEBUG] verify episode 4667: reward = 158.00, steps = 158\n",
      "22:59:41 [DEBUG] verify episode 4668: reward = 200.00, steps = 200\n",
      "22:59:41 [DEBUG] verify episode 4669: reward = 166.00, steps = 166\n",
      "22:59:41 [DEBUG] verify episode 4670: reward = 194.00, steps = 194\n",
      "22:59:42 [DEBUG] verify episode 4671: reward = 188.00, steps = 188\n",
      "22:59:42 [DEBUG] verify episode 4672: reward = 200.00, steps = 200\n",
      "22:59:42 [DEBUG] verify episode 4673: reward = 189.00, steps = 189\n",
      "22:59:42 [DEBUG] verify episode 4674: reward = 180.00, steps = 180\n",
      "22:59:42 [DEBUG] verify episode 4675: reward = 200.00, steps = 200\n",
      "22:59:42 [DEBUG] verify episode 4676: reward = 159.00, steps = 159\n",
      "22:59:42 [DEBUG] verify episode 4677: reward = 172.00, steps = 172\n",
      "22:59:42 [DEBUG] verify episode 4678: reward = 200.00, steps = 200\n",
      "22:59:42 [DEBUG] verify episode 4679: reward = 186.00, steps = 186\n",
      "22:59:42 [DEBUG] verify episode 4680: reward = 189.00, steps = 189\n",
      "22:59:42 [DEBUG] verify episode 4681: reward = 200.00, steps = 200\n",
      "22:59:42 [DEBUG] verify episode 4682: reward = 183.00, steps = 183\n",
      "22:59:42 [DEBUG] verify episode 4683: reward = 167.00, steps = 167\n",
      "22:59:42 [DEBUG] verify episode 4684: reward = 189.00, steps = 189\n",
      "22:59:42 [DEBUG] verify episode 4685: reward = 200.00, steps = 200\n",
      "22:59:43 [DEBUG] verify episode 4686: reward = 158.00, steps = 158\n",
      "22:59:43 [DEBUG] verify episode 4687: reward = 179.00, steps = 179\n",
      "22:59:43 [DEBUG] verify episode 4688: reward = 171.00, steps = 171\n",
      "22:59:43 [DEBUG] verify episode 4689: reward = 181.00, steps = 181\n",
      "22:59:43 [DEBUG] verify episode 4690: reward = 150.00, steps = 150\n",
      "22:59:43 [DEBUG] verify episode 4691: reward = 174.00, steps = 174\n",
      "22:59:43 [DEBUG] verify episode 4692: reward = 178.00, steps = 178\n",
      "22:59:43 [DEBUG] verify episode 4693: reward = 200.00, steps = 200\n",
      "22:59:43 [DEBUG] verify episode 4694: reward = 200.00, steps = 200\n",
      "22:59:43 [DEBUG] verify episode 4695: reward = 169.00, steps = 169\n",
      "22:59:43 [DEBUG] verify episode 4696: reward = 200.00, steps = 200\n",
      "22:59:43 [DEBUG] verify episode 4697: reward = 200.00, steps = 200\n",
      "22:59:43 [DEBUG] verify episode 4698: reward = 200.00, steps = 200\n",
      "22:59:43 [DEBUG] verify episode 4699: reward = 200.00, steps = 200\n",
      "22:59:44 [DEBUG] verify episode 4700: reward = 200.00, steps = 200\n",
      "22:59:44 [DEBUG] verify episode 4701: reward = 189.00, steps = 189\n",
      "22:59:44 [DEBUG] verify episode 4702: reward = 192.00, steps = 192\n",
      "22:59:44 [DEBUG] verify episode 4703: reward = 176.00, steps = 176\n",
      "22:59:44 [DEBUG] verify episode 4704: reward = 178.00, steps = 178\n",
      "22:59:44 [DEBUG] verify episode 4705: reward = 149.00, steps = 149\n",
      "22:59:44 [DEBUG] verify episode 4706: reward = 157.00, steps = 157\n",
      "22:59:44 [DEBUG] verify episode 4707: reward = 160.00, steps = 160\n",
      "22:59:44 [DEBUG] verify episode 4708: reward = 170.00, steps = 170\n",
      "22:59:44 [DEBUG] verify episode 4709: reward = 157.00, steps = 157\n",
      "22:59:44 [DEBUG] verify episode 4710: reward = 200.00, steps = 200\n",
      "22:59:44 [DEBUG] verify episode 4711: reward = 130.00, steps = 130\n",
      "22:59:44 [DEBUG] verify episode 4712: reward = 141.00, steps = 141\n",
      "22:59:44 [DEBUG] verify episode 4713: reward = 200.00, steps = 200\n",
      "22:59:44 [DEBUG] verify episode 4714: reward = 197.00, steps = 197\n",
      "22:59:44 [DEBUG] verify episode 4715: reward = 175.00, steps = 175\n",
      "22:59:45 [DEBUG] verify episode 4716: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4717: reward = 170.00, steps = 170\n",
      "22:59:45 [DEBUG] verify episode 4718: reward = 200.00, steps = 200\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "22:59:45 [DEBUG] verify episode 4719: reward = 183.00, steps = 183\n",
      "22:59:45 [DEBUG] verify episode 4720: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4721: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4722: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4723: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4724: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4725: reward = 193.00, steps = 193\n",
      "22:59:45 [DEBUG] verify episode 4726: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4727: reward = 191.00, steps = 191\n",
      "22:59:45 [DEBUG] verify episode 4728: reward = 200.00, steps = 200\n",
      "22:59:45 [DEBUG] verify episode 4729: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4730: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4731: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4732: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4733: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4734: reward = 197.00, steps = 197\n",
      "22:59:46 [DEBUG] verify episode 4735: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4736: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4737: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4738: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] verify episode 4739: reward = 200.00, steps = 200\n",
      "22:59:46 [INFO] ==== test ====\n",
      "22:59:46 [DEBUG] test episode 0: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] test episode 1: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] test episode 2: reward = 200.00, steps = 200\n",
      "22:59:46 [DEBUG] test episode 3: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 4: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 5: reward = 199.00, steps = 199\n",
      "22:59:47 [DEBUG] test episode 6: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 7: reward = 190.00, steps = 190\n",
      "22:59:47 [DEBUG] test episode 8: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 9: reward = 193.00, steps = 193\n",
      "22:59:47 [DEBUG] test episode 10: reward = 166.00, steps = 166\n",
      "22:59:47 [DEBUG] test episode 11: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 12: reward = 189.00, steps = 189\n",
      "22:59:47 [DEBUG] test episode 13: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 14: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 15: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 16: reward = 200.00, steps = 200\n",
      "22:59:47 [DEBUG] test episode 17: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 18: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 19: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 20: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 21: reward = 185.00, steps = 185\n",
      "22:59:48 [DEBUG] test episode 22: reward = 196.00, steps = 196\n",
      "22:59:48 [DEBUG] test episode 23: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 24: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 25: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 26: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 27: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 28: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 29: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 30: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 31: reward = 200.00, steps = 200\n",
      "22:59:48 [DEBUG] test episode 32: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 33: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 34: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 35: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 36: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 37: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 38: reward = 179.00, steps = 179\n",
      "22:59:49 [DEBUG] test episode 39: reward = 184.00, steps = 184\n",
      "22:59:49 [DEBUG] test episode 40: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 41: reward = 177.00, steps = 177\n",
      "22:59:49 [DEBUG] test episode 42: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 43: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 44: reward = 179.00, steps = 179\n",
      "22:59:49 [DEBUG] test episode 45: reward = 173.00, steps = 173\n",
      "22:59:49 [DEBUG] test episode 46: reward = 200.00, steps = 200\n",
      "22:59:49 [DEBUG] test episode 47: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 48: reward = 186.00, steps = 186\n",
      "22:59:50 [DEBUG] test episode 49: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 50: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 51: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 52: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 53: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 54: reward = 177.00, steps = 177\n",
      "22:59:50 [DEBUG] test episode 55: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 56: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 57: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 58: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 59: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 60: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 61: reward = 200.00, steps = 200\n",
      "22:59:50 [DEBUG] test episode 62: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 63: reward = 184.00, steps = 184\n",
      "22:59:51 [DEBUG] test episode 64: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 65: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 66: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 67: reward = 192.00, steps = 192\n",
      "22:59:51 [DEBUG] test episode 68: reward = 189.00, steps = 189\n",
      "22:59:51 [DEBUG] test episode 69: reward = 199.00, steps = 199\n",
      "22:59:51 [DEBUG] test episode 70: reward = 165.00, steps = 165\n",
      "22:59:51 [DEBUG] test episode 71: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 72: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 73: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 74: reward = 200.00, steps = 200\n",
      "22:59:51 [DEBUG] test episode 75: reward = 176.00, steps = 176\n",
      "22:59:52 [DEBUG] test episode 76: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 77: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 78: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 79: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 80: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 81: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 82: reward = 195.00, steps = 195\n",
      "22:59:52 [DEBUG] test episode 83: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 84: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 85: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 86: reward = 198.00, steps = 198\n",
      "22:59:52 [DEBUG] test episode 87: reward = 188.00, steps = 188\n",
      "22:59:52 [DEBUG] test episode 88: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 89: reward = 200.00, steps = 200\n",
      "22:59:52 [DEBUG] test episode 90: reward = 200.00, steps = 200\n",
      "22:59:53 [DEBUG] test episode 91: reward = 179.00, steps = 179\n",
      "22:59:53 [DEBUG] test episode 92: reward = 200.00, steps = 200\n",
      "22:59:53 [DEBUG] test episode 93: reward = 198.00, steps = 198\n",
      "22:59:53 [DEBUG] test episode 94: reward = 200.00, steps = 200\n",
      "22:59:53 [DEBUG] test episode 95: reward = 200.00, steps = 200\n",
      "22:59:53 [DEBUG] test episode 96: reward = 200.00, steps = 200\n",
      "22:59:53 [DEBUG] test episode 97: reward = 200.00, steps = 200\n",
      "22:59:53 [DEBUG] test episode 98: reward = 200.00, steps = 200\n",
      "22:59:53 [DEBUG] test episode 99: reward = 200.00, steps = 200\n",
      "22:59:53 [INFO] average episode reward = 196.36 ± 7.95\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "def play_episode(env, agent, max_episode_steps=None, mode=None, render=False):\n",
    "    observation, reward, done = env.reset(), 0., False\n",
    "    agent.reset(mode=mode)\n",
    "    episode_reward, elapsed_steps = 0., 0\n",
    "    while True:\n",
    "        action = agent.step(observation, reward, done)\n",
    "        if render:\n",
    "            env.render()\n",
    "        if done:\n",
    "            break\n",
    "        observation, reward, done, _ = env.step(action)\n",
    "        episode_reward += reward\n",
    "        elapsed_steps += 1\n",
    "        if max_episode_steps and elapsed_steps >= max_episode_steps:\n",
    "            break\n",
    "    agent.close()\n",
    "    return episode_reward, elapsed_steps\n",
    "\n",
    "\n",
    "logging.info('==== train & verify ====')\n",
    "episode_rewards = []\n",
    "for episode in itertools.count():\n",
    "    play_episode(env.unwrapped, agent,\n",
    "            max_episode_steps=env._max_episode_steps, mode='train')\n",
    "    episode_reward, elapsed_steps = play_episode(env, agent)\n",
    "    episode_rewards.append(episode_reward)\n",
    "    logging.debug('verify episode %d: reward = %.2f, steps = %d',\n",
    "            episode, episode_reward, elapsed_steps)\n",
    "    if np.mean(episode_rewards[-20:]) > 199:\n",
    "        break\n",
    "plt.plot(episode_rewards)\n",
    "\n",
    "\n",
    "logging.info('==== test ====')\n",
    "episode_rewards = []\n",
    "for episode in range(100):\n",
    "    episode_reward, elapsed_steps = play_episode(env, agent)\n",
    "    episode_rewards.append(episode_reward)\n",
    "    logging.debug('test episode %d: reward = %.2f, steps = %d',\n",
    "            episode, episode_reward, elapsed_steps)\n",
    "logging.info('average episode reward = %.2f ± %.2f',\n",
    "        np.mean(episode_rewards), np.std(episode_rewards))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "env.close()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.3"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 1
}
